Abstract
This paper investigates the mathematical model and control schemes for tracking control of pneumatic artificial muscle (PAM) using fast switching valves. Three control schemes are proposed and compared to achieve high accuracy trajectory tracking. The static model of PAM is established using the isometric experimental data, and the dynamic model of PAM is derived based on the polytropic equation. Then, the hysteresis model and its inverse model of PAM is established by using Prandtl–Shlinskii (PI) model, in which the air mass flow rate through the fast switching valve is evaluated using the Sanville equation. Sequentially, the trajectory tracking control schemes of PAM are derived by means of feedforward, feedback, and feedforward/feedback control schemes, which are implemented in the environment of MATLAB/Simulink. The results indicate that the feedforward/feedback control scheme can achieve better performance and accuracy.
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